Abstract
A magnetic gripping tool comprising one tool-change interface, one magnet assembly, one contact detector and one separating element. After the workpiece has reached the set-down position, the workpiece is released by the separating element. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.
1. Purpose and arrangement
[0001]This disclosure describes a magnetic gripping tool: one magnet assembly carried on a tool-change interface. It is arranged for starting the cycle at the moment of contact, separating a workpiece that stays on the face and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.
2. Components, construction and connections
[0002]One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock.
[0003]One magnet assembly. The magnet assembly presents a pole face to the workpiece and holds a ferrous workpiece without any air circuit. The magnet assembly uses a permanent magnet.
[0004]One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame.
[0005]One separating element. The separating element acts on the workpiece directly, so release does not depend on the holding mechanism alone.
[0006]The magnet assembly is carried on the tool side of the tool-change interface.
[0007]The contact detector is mounted on the frame and reports the moment a workpiece is present against the magnet face.
[0008]The separating element acts on the workpiece held at the magnet assembly and pushes it clear of the face.
[0009]The robot side of the tool-change interface is bolted to the robot flange.
[0010]The separating element is driven from the compressed air supply of the cell.
[0011]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.
[0012]The separating element and the lock of the tool-change interface are switched by the cell controller; the contact detector reports to the cell controller.
3. Operating sequence and conditions
[0013]
- After the contact detector has detected the workpiece, the gripping cycle is actuated by the cell controller.
[0014]
- While the magnet assembly is in contact with the workpiece, the workpiece is held by the permanent magnet.
[0015]
- After the workpiece has reached the set-down position, the workpiece is released by the separating element.
[0016]
- The workpiece is held until the separating element has released the workpiece.
[0017]The cell controller reads the contact detector (on the frame) and commands the separating element, the tool-change interface; no sensor drives an actuator directly.
4. Parameters and operating assumptions
[0018]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); magnet type of the magnet assembly: permanent magnet (sets whether the holding force can be switched off electrically or must be overcome mechanically); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the separating element: after set-down (sets when the separating element acts relative to set-down).
[0019]The permanent magnet cannot be switched off; the holding force is present whenever a ferrous workpiece is at the face, and release depends entirely on the separating element.
[0020]The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement.
5. Provenance and status
[0021]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10259123-B2, US-11858125-B2, US-2022339798-A1, US-8043071-B2; their text is not reproduced, and the description above is generated from the structure of the combination.
6. Correction notice
[0022]This publication supersedes OT-2026-000006618, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: separating element added for the permanent magnet; the same corrected configuration also replaces OT-2026-000007438.